CN108089201A - Obstacle information acquisition methods, the launching technique of laser pulse and device - Google Patents
Obstacle information acquisition methods, the launching technique of laser pulse and device Download PDFInfo
- Publication number
- CN108089201A CN108089201A CN201711303228.8A CN201711303228A CN108089201A CN 108089201 A CN108089201 A CN 108089201A CN 201711303228 A CN201711303228 A CN 201711303228A CN 108089201 A CN108089201 A CN 108089201A
- Authority
- CN
- China
- Prior art keywords
- laser pulse
- laser
- moment
- signal
- near field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/484—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4868—Controlling received signal intensity or exposure of sensor
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The launching technique and device of a kind of obstacle information acquisition methods, laser pulse, the launching technique of the laser pulse include：At the first moment, emit first laser pulse；At the second moment, emit second laser pulse, the peak power of the first laser pulse is less than the peak power of the second laser pulse, the time interval at second moment and first moment is more than T, at the time of at the time of wherein T is transmitting laser pulse and receiving the laser pulse echo-signal of near field barrier reflection between duration.Using said program, since the power of first laser pulse is smaller, stray light will not cause the voltage saturation of detection circuit, therefore the first laser pulse of near field barrier reflection can be detected, thus with relatively low cost, the measurement blind area of near field barrier caused by effectively solving the problems, such as laser radar internal stray light；Simultaneously because second laser pulse signal is stronger, it is ensured that the normal detection of far field barrier.
Description
Technical field
The present embodiments relate to technical field of environmental perception more particularly to a kind of obstacle information acquisition methods, laser
The launching technique and device of pulse.
Background technology
Due to that can obtain the shape and range information of all barriers in the range of hundred meters of vehicle, laser radar has become
Sensor necessary to realizing automatic Pilot.In current laser radar system, the main method using pulse ranging obtains
Obstacle information that is, by emitting the laser pulse of narrow spaces, high-peak power, then passes through avalanche photodiode detector
(Avalanche Photo Diode, APD) measures the time delay of reflected impulse, so as to calculate the distance letter for obtaining barrier
Breath.
For the laser radar system using pulse ranging method, during light pulse emission, there is fraction to emit arteries and veins
Punching will be received directly by APD, and the detection circuit of highly sensitive APD is caused to enter non-linear saturation area.It is miscellaneous when detection circuit saturation
The amplification factor of the pulse pedestals of astigmatism is more than the amplification of top pulse, and pulsewidth of the spuious light pulse in detection circuit is caused to increase
Greatly, the laser pulse echo-signal so as to cause the reflection of near field barrier is prolonged after being submerged in stray light in pedestal, can not be judged
The position of near field barrier forms measurement blind area, seriously affects application of the laser radar in automatic Pilot field.On solving
Problem is stated, there are two types of technical solutions for existing product：1st, using smaller transmitted pulse width, the width of measurement blind area is reduced.2nd, exist
Original fixed gain amplifier is substituted after APD using fast tunable gain amplifier, variable gain amplifier is anti-by force to front end
The small gain of gloss is penetrated, the weak reflected light in rear end can suitably be reduced the gain saturatiuon effect of stray light, be subtracted by the way of large gain
The width of few measurement blind area.
In existing technical solution, the raising of detective bandwidth can be brought by reducing the scheme of transmitted pulse width, be introduced more
Radio noise, and the cost of transmitter unit and probe unit can also steeply rise；Using variable gain amplifier scheme only
It does and optimizes for the amplifying circuit after detection circuit APD, improve dynamic range, do not change the gain inside APD, therefore
In most cases, due to the high-gain of APD, saturation, subsequent amplifying circuit can not solve spuious optical signal in APD
Certainly APD saturation effects in itself and caused blind area effect.
The content of the invention
The technical issues of embodiment of the present invention solves is such as how relatively low cost, solution laser radar internal stray light guide
The problem of measurement blind area of the near field barrier of cause.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of launching technique of laser pulse, the method bag
It includes：At the first moment, emit first laser pulse；At the second moment, emit second laser pulse, the first laser pulse
Peak power is less than the peak power of the second laser pulse, and the time interval at second moment and first moment is big
In T, at the time of wherein T is transmitting laser pulse and at the time of receiving the laser pulse echo-signal of near field barrier reflection it
Between duration.
Optionally, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit electric
Saturation is pressed, so as to the corresponding region in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced.
The embodiment of the present invention provides a kind of emitter of laser pulse, including：Waveform generator and coupled thereto swash
Light device, wherein：The waveform generator, suitable at the first moment, the first driving current of output is to the laser, at second
It carves, the second driving current of output to the laser, wherein the current value of second driving current is more than the described first driving
The interval at the current value of electric current, second moment and first moment is more than T, at the time of wherein T is emits laser pulse
And at the time of receiving the laser pulse echo-signal of near field barrier reflection between duration；The laser, suitable for being based on
First driving current of the waveform generator input, at the first moment, is generated and transmitted by first laser pulse；Based on the ripple
Second driving current of shape generator input, at the second moment, is generated and transmitted by second laser pulse.
Optionally, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit electric
Saturation is pressed, so as to the corresponding region in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced.
Optionally, the laser is semiconductor laser.
The embodiment of the present invention provides a kind of emitter of laser pulse, including：Laser and coupled thereto first point
Road, the second branch, wherein：First branch includes：The first branch optical fiber, the first attenuator being mutually coupled；Described second
Branch includes：The second branch optical fiber, the second attenuator being mutually coupled, the pad value of second attenuator are less than described first
The pad value of attenuator, the delay that the second branch optical fiber introduces are more than the delay that the first branch optical fiber introduces, and its
Delay inequality is T, at the time of wherein T is transmitting laser pulse and receives the laser pulse echo-signal of near field barrier reflection
Duration between moment.
Optionally, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit electric
Saturation is pressed, so as to the corresponding region in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced.
Optionally, the laser is semiconductor laser.
The embodiment of the present invention provides a kind of emitter of laser pulse, including：First transmitter unit, suitable at first
It carves, emits first laser pulse；Second transmitter unit, suitable in the second moment, transmitting second laser pulse, the first laser
The peak power of pulse is less than the peak power of the second laser pulse, the time at second moment and first moment
Interval is more than T, at the time of wherein T is transmitting laser pulse and receives the laser pulse echo-signal of near field barrier reflection
Duration between moment.
Optionally, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit electric
Saturation is pressed, so as to the corresponding region in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced.
The embodiment of the present invention provides a kind of acquisition methods of obstacle information, including：Echo based on first laser pulse
Signal calculates the range information for obtaining near field barrier；Based on the echo-signal of second laser pulse, calculate and obtain far field obstacle
The range information of object.
The embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer instruction, the calculating
The step of launching technique of the laser pulse is performed during machine instruction operation.
The embodiment of the present invention provides a kind of system, and including memory and processor, being stored on the memory can be in institute
The computer instruction run on processor is stated, the processor performs the hair of the laser pulse when running the computer instruction
The step of shooting method.
The embodiment of the present invention provides a kind of computer readable storage medium, is stored thereon with computer instruction, the calculating
The step of acquisition methods of the obstacle information are performed during machine instruction operation.
The embodiment of the present invention provides a kind of system, and including memory and processor, being stored on the memory can be in institute
The computer instruction run on processor is stated, the processor performs the obstacle information when running the computer instruction
The step of acquisition methods.
Compared with prior art, the technical solution of the embodiment of the present invention has the advantages that：
The embodiment of the present invention emits low power first laser pulse at the first moment, and at the second moment, transmitting is high-power
Second laser pulse, since the power of first laser pulse is smaller, stray light will not cause the voltage saturation of detection circuit, therefore
The first laser pulse echo signal of near field barrier reflection can be detected, so as to relatively low cost, effectively solve laser
The measurement blind area problem of near field barrier caused by radar internal stray light；Simultaneously because second laser pulse signal is stronger, it can
To ensure the normal detection of far field barrier.
Description of the drawings
Fig. 1 is the schematic diagram of APD detecting voltages in existing laser radar system；
Fig. 2 is a kind of detail flowchart of the launching technique of laser pulse provided in an embodiment of the present invention；
Fig. 3 is a kind of schematic diagram of laser pulse provided in an embodiment of the present invention；
Fig. 4 is a kind of schematic diagram of APD detecting voltages provided in an embodiment of the present invention；
Fig. 5 is a kind of detail flowchart of the acquisition methods of obstacle information provided in an embodiment of the present invention；
Fig. 6 is the detail flowchart of the acquisition methods of another obstacle information provided in an embodiment of the present invention；
Fig. 7 is a kind of structure diagram of the emitter of laser pulse provided in an embodiment of the present invention；
Fig. 8 is the structure diagram of the emitter of another laser pulse provided in an embodiment of the present invention；
Fig. 9 is the structure diagram of the emitter of another laser pulse provided in an embodiment of the present invention.
Specific embodiment
In existing laser radar system, since the laser pulse of transmitting is directly absorbed by APD, detection circuit is caused to be satisfied
With so as to flood the laser pulse echo-signal of near field barrier reflection, form measurement blind area, as shown in Figure 1.
Referring to Fig. 1, after laser radar emits laser pulse, the voltage signal that APD is detected includes：The laser arteries and veins of transmitting
Punching is directly absorbed by APD, i.e., stray light causes the voltage signal 11 of detection circuit saturation and laser pulse anti-by near field barrier
The laser pulse echo-signal 12 penetrated, due to directly causing detection circuit saturation by the APD stray lights absorbed, therefore the voltage is believed
Numbers 11 are equal to voltage saturation value, more than the laser pulse echo-signal 12 of near field barrier transmitting, so as to cause echo-signal 12
It is submerged, the range information of near field barrier can not be obtained.Saturation voltage signal duration is caused by the stray light
For the corresponding duration Ta in measurement blind area.In the corresponding duration Ta in measurement blind area, detector is unable to properly receive what is reflected
Laser pulse echo-signal, so as to which the range information of barrier can not be obtained.
In existing technical solution, for measurement blind area problem caused by stray light, it is proposed that reduce transmitted pulse width
The scheme of scheme and variable gain amplifier.The raising of detective bandwidth can be brought by wherein reducing the scheme of transmitted pulse width, be introduced more
More radio noises, and the cost of transmitter unit and probe unit can also steeply rise；Using the side of variable gain amplifier
Case is done only for the amplifying circuit after detection circuit APD to be optimized, and improves dynamic range, does not change the gain inside APD,
Therefore in most cases, due to the high-gain of APD, spuious optical signal saturation in APD, subsequent amplifying circuit without
Method solves APD saturation effects in itself and caused blind area effect.Therefore reduce the scheme of transmitted pulse width and adjustable gain amplification
The scheme of device can not solve the problems, such as measurement blind area caused by stray light with relatively low cost.
The embodiment of the present invention emits low power first laser pulse at the first moment, and at the second moment, transmitting is high-power
Second laser pulse, since the power of first laser pulse is smaller, stray light will not cause the voltage saturation of detection circuit, therefore
The first laser pulse echo signal of near field barrier reflection can be detected, so as to relatively low cost, effectively solve laser
The measurement blind area problem of near field barrier caused by radar internal stray light；Simultaneously because second laser pulse signal is stronger, it can
To ensure the normal detection of far field barrier.
It is understandable for above-mentioned purpose, feature and advantageous effect of the invention is enable to become apparent, below in conjunction with the accompanying drawings to this
The specific embodiment of invention is described in detail.
Referring to Fig. 2, an embodiment of the present invention provides a kind of launching technique of laser pulse, the described method includes：
Step S201 at the first moment, emits first laser pulse.
Step S202 at the second moment, emits second laser pulse, and the peak power of the first laser pulse is less than institute
State the peak power of second laser pulse, the time interval at second moment and first moment is more than T, and wherein T is hair
Duration between at the time of at the time of penetrating laser pulse and receiving the laser pulse echo-signal of near field barrier reflection.
In existing laser radar system, since the laser pulse of transmitting is directly absorbed by APD, detection circuit is caused to be satisfied
With so as to flood the laser pulse echo-signal of near field barrier reflection, form measurement blind area, therefore the embodiment of the present invention is using double
Pulse transmission method that is, at the first moment, emits weak first laser pulse, for the measurement of near field barrier, at second
It carves, emits strong second laser pulse, for the measurement of far field barrier.
In specific implementation, since weak first laser pulse can be used for the measurement of near field barrier, therefore in order to improve
The accuracy rate of near field barrier measurement, the time interval that can constrain second moment and first moment are more than T, wherein
T is the reflection delay time of near field barrier, that is, at the time of emitting laser pulse and receives the same of near field barrier reflection
Duration between at the time of laser pulse echo-signal.
In specific implementation, near field can be defined as the corresponding region in measurement blind area, i.e., since the laser pulse of transmitting is straight
It connects detected module to receive, causes detection circuit voltage saturation, so as to flood the laser pulse echo letter of spatial obstacle object reflection
Number and introduce the corresponding region in measurement blind area.
Using said program, since first laser pulse signal is weaker, therefore even if it is directly by APD systems, stray light
APD saturations will not be caused, therefore the pulse signal of follow-up barrier reflection can be efficiently separated, so as to eliminate measurement blind area,
Simultaneously because second laser pulse signal is stronger, it is ensured that the normal detection of far field barrier.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of laser arteries and veins
The schematic diagram of punching, as shown in Figure 3.
Referring to Fig. 3, at the T1 moment, emit first laser pulse 31, peak power P1, at the T2 moment, transmitting second swashs
Light pulse 32, peak power P2, and P2 are much larger than P1, and the time interval between T2 and T1 is T.
Since P1 is relatively low, stray light will not cause APD saturations, therefore can efficiently separate the first of near field barrier reflection
The echo-signal of laser pulse 31；Simultaneously because the signal of second laser pulse 32 is stronger, it is ensured that far field barrier is just
Often detection.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of APD spies
The schematic diagram of voltage is surveyed, as shown in Figure 4.
Referring to Fig. 4, after laser radar system emits laser pulse shown in Fig. 3, APD, which detects voltage signal, to be included：
The first laser pulse 31 of transmitting is directly absorbed by APD, i.e., first voltage signal 41, first laser pulse 31 caused by stray light
The echo-signal 42 reflected by near field barrier, the time delay that first laser pulse 31 is reflected by near field barrier are X1, the
Dual-laser pulse 32 is directly caused the second voltage signal 43 of detection circuit saturation, second laser arteries and veins by the APD stray lights absorbed
The echo-signal 44 that punching 32 is reflected by near field barrier, the launch time between second laser pulse 32 and first laser pulse 31
At intervals of T, 43 duration of voltage signal is measurement blind area corresponding duration Ta, T>Ta, second laser pulse 32 is by near field
The time delay of barrier reflection is T+X1.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of barriers
The acquisition methods of information, as shown in Figure 5.
Referring to Fig. 5, the acquisition methods of the obstacle information may include steps of：
Step S501 based on the echo-signal of first laser pulse, calculates the range information for obtaining near field barrier.
Step S502 based on the echo-signal of second laser pulse, calculates the range information for obtaining far field barrier.
Since first laser pulse signal is weaker, therefore even if its directly by APD systems, stray light will not cause APD to satisfy
With, thus can the echo-signal based on first laser pulse, calculate obtain near field barrier range information；Simultaneously because second
Laser pulse signal is stronger, therefore based on the echo-signal of second laser pulse, calculate the range information for obtaining far field barrier.
In an embodiment of the present invention, laser pulse shown in Fig. 3 is emitted, the APD detecting voltages signal such as Fig. 4 received
Shown, a kind of acquisition methods of obstacle information are as shown in fig. 6, may include steps of：
Step S601, second voltage signal 43 caused by judging stray light whether there is clear and non-overlapped ripple afterwards
Shape is then the second impulse waveform if there is clear and non-overlapped waveform, performs step S602, otherwise performs step S603.
In specific implementation, if only existing one after second voltage signal 43 caused by laser radar internal stray light
Clear and non-overlapped impulse waveform illustrates barrier in far field, and the impulse waveform is the second impulse waveform, is far field obstacle
The echo-signal of the second laser pulse 32 of object reflection.If second voltage signal 43 caused by laser radar internal stray light it
Afterwards there are two clear and non-overlapped impulse waveforms, then two impulse waveforms are respectively the first laser of far field barrier reflection
The echo-signal of pulse 31 and the echo-signal of second laser pulse 32, since the peak power of first laser pulse 31 is less than the
The second laser pulse 32 of the peak power of dual-laser pulse 32, therefore the latter impulse waveform, i.e. far field barrier reflection is returned
Ripple signal is the second impulse waveform.
Step S602 based on the reflection delay of the second impulse waveform, calculates the range information for obtaining far field barrier.
In specific implementation, since the reflection delay size of the second impulse waveform is related to distance, therefore can be based on
The reflection delay of second impulse waveform calculates the range information for obtaining far field barrier.
In specific implementation, since second laser pulse 32 is compared with first laser pulse 31, time T transmissions are delayed
, T+X2 can be based on and calculate reflection delay, to obtain the range information of barrier, wherein X2 is transmitting second laser pulse 32
At the time of and receive the reflection of far field barrier second laser pulse 32 echo-signal at the time of between duration.
Step S603, second voltage signal 43 caused by first voltage signal 41 caused by judging stray light and stray light it
Between with the presence or absence of clear and non-overlapped waveform, be then the first impulse waveform if there is clear and non-overlapped waveform, perform
Otherwise step S604 performs step S605.
In specific implementation, if without clearly and again after second voltage signal 43 caused by laser radar internal stray light
Folded waveform illustrates far field clear, further analyzes internal field whether there are obstacles at this time.
It is clear when existing between second voltage signal 43 caused by first voltage signal 41 caused by stray light and stray light
And during non-overlapped impulse waveform, illustrate near field there are barrier, the impulse waveform is the first impulse waveform, is near field obstacle
The echo-signal of the first laser pulse 31 of object reflection.
Step S604 based on the reflection delay of the first impulse waveform, calculates the range information for obtaining near field barrier.
In specific implementation, X1 can be based on and calculates reflection delay, to obtain the range information of near field barrier, wherein X1
For transmitting first laser pulse 31 at the time of and receive near field barrier reflection first laser pulse 31 echo-signal
Duration between moment.
Step S605, detection terminate.
In specific implementation, without clear and overlapping after second voltage signal 43 caused by laser radar internal stray light
The second impulse waveform and when between second voltage signal 43 caused by first voltage signal 41 caused by stray light and stray light
During without the first clear and non-overlapped impulse waveform, detection terminates, and conclusion is：The equal clear in far field and near field.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides a kind of laser arteries and veins
The structure diagram of the emitter of punching, as shown in Figure 7.
Referring to Fig. 7, an embodiment of the present invention provides a kind of emitter 70 of laser pulse, including：Waveform generator 71
With laser 72 coupled thereto, wherein：
The waveform generator 71, suitable at the first moment, the first driving current of output is to the laser 72, second
Moment, the second driving current of output to the laser 72, wherein the current value of second driving current is more than described first
The interval at the current value of driving current, second moment and first moment is more than T, and wherein T is transmitting laser pulse
Moment and at the time of receive the laser pulse echo-signal of near field barrier reflection between duration.
The laser 72, suitable for the first driving current inputted based on the waveform generator 71, at the first moment, production
It gives birth to and emits first laser pulse；Based on the second driving current of the waveform generator 71 input, at the second moment, generate simultaneously
Emit second laser pulse.
In specific implementation, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause to detect
Circuit voltage saturation, so as to the corresponding area in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced
Domain.
In specific implementation, the laser can be semiconductor laser, or other kinds of laser.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides another laser
The structure diagram of the emitter of pulse, as shown in Figure 8.
Referring to Fig. 8, an embodiment of the present invention provides a kind of emitter 80 of laser pulse, including：Laser 81 and with
Coupling the first branch 82, the second branch 83, wherein：First branch 82 includes：The first branch optical fiber being mutually coupled
821st, the first attenuator 822, second branch 83 include：The second branch optical fiber 831, the second attenuator 832 being mutually coupled,
The pad value of second attenuator 832 is less than the pad value of first attenuator 822, and the second branch optical fiber 831 draws
The delay entered is more than the delay that the first branch optical fiber 821 introduces, and its delay inequality is T, and wherein T is transmitting laser pulse
Moment and at the time of receive the laser pulse echo-signal of near field barrier reflection between duration.
In specific implementation, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause to detect
Circuit voltage saturation, so as to the corresponding area in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced
Domain.
In specific implementation, the laser can be semiconductor laser, or other kinds of laser.
To more fully understand those skilled in the art and implementing the present invention, an embodiment of the present invention provides another laser
The structure diagram of the emitter of pulse, as shown in Figure 9.
Referring to Fig. 9, an embodiment of the present invention provides a kind of emitter 90 of laser pulse, including：First transmitter unit
91st, the second transmitter unit 92, wherein：
First transmitter unit 91, suitable in the first moment, transmitting first laser pulse.
Second transmitter unit 92, suitable at the second moment, emitting second laser pulse, the first laser pulse
Peak power is less than the peak power of the second laser pulse, and the time interval at second moment and first moment is big
In T, at the time of wherein T is transmitting laser pulse and at the time of receiving the laser pulse echo-signal of near field barrier reflection it
Between duration.
In specific implementation, the near field is：Since the directly detected module of the laser pulse of transmitting receives, cause to detect
Circuit voltage saturation, so as to the corresponding area in measurement blind area flooded the laser pulse echo-signal of spatial obstacle object reflection and introduced
Domain.
An embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer instruction, the meter
The step of launching technique of any laser pulse is performed during calculation machine instruction operation.
An embodiment of the present invention provides a kind of system, including memory and processor, being stored on the memory can be
The computer instruction run on the processor, the processor perform any laser when running the computer instruction
The step of launching technique of pulse.
In specific implementation, the workflow of the emitter 90 and principle may be referred to what is provided in above-described embodiment
Description in method, details are not described herein again.
An embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer instruction, the meter
The step of acquisition methods of any obstacle information are performed during calculation machine instruction operation.
An embodiment of the present invention provides a kind of system, including memory and processor, being stored on the memory can be
The computer instruction run on the processor, the processor perform any obstacle when running the computer instruction
The step of acquisition methods of object information.
One of ordinary skill in the art will appreciate that all or part of step in the various methods of above-described embodiment is can
Relevant hardware to be instructed to complete by program, which can be stored in a computer readable storage medium, storage
Medium can include：ROM, RAM, disk or CD etc..
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the scope of restriction.
Claims (10)
1. a kind of launching technique of laser pulse, which is characterized in that including：
At the first moment, emit first laser pulse；
At the second moment, emit second laser pulse, the peak power of the first laser pulse is less than the second laser arteries and veins
The time interval at the peak power of punching, second moment and first moment is more than T, and wherein T is transmitting laser pulse
Moment and at the time of receive the laser pulse echo-signal of near field barrier reflection between duration.
2. the launching technique of laser pulse according to claim 1, which is characterized in that the near field is：
Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit voltage saturation, so as to flood space barrier
The corresponding region in measurement blind area for hindering the laser pulse echo-signal of object reflection and introducing.
3. a kind of emitter of laser pulse, which is characterized in that including：Waveform generator and laser coupled thereto,
In：
The waveform generator, suitable at the first moment, the first driving current of output to the laser is defeated at the second moment
Go out the second driving current to the laser, wherein the current value of second driving current is more than first driving current
The interval at current value, second moment and first moment is more than T, and wherein T is at the time of emitting laser pulse and reception
To near field barrier reflect laser pulse echo-signal at the time of between duration；
The laser suitable for the first driving current inputted based on the waveform generator, at the first moment, is generated and transmitted by
First laser pulse；Based on the second driving current of waveform generator input, at the second moment, it is generated and transmitted by second and swashs
Light pulse.
4. the emitter of laser pulse according to claim 3, which is characterized in that the near field is：
Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit voltage saturation, so as to flood space barrier
The corresponding region in measurement blind area for hindering the laser pulse echo-signal of object reflection and introducing.
5. the emitter of the laser pulse according to claim 3 or 4, which is characterized in that the laser is semiconductor
Laser.
6. a kind of emitter of laser pulse, which is characterized in that including：Laser and the first branch coupled thereto, second
Branch, wherein：
First branch includes：The first branch optical fiber, the first attenuator being mutually coupled；
Second branch includes：The second branch optical fiber, the second attenuator being mutually coupled, the pad value of second attenuator
Less than the pad value of first attenuator, the delay that the second branch optical fiber introduces is introduced more than the first branch optical fiber
Delay, and its delay inequality is T, at the time of wherein T is transmitting laser pulse and receives the laser arteries and veins of near field barrier reflection
Duration between at the time of rushing echo-signal.
7. the emitter of laser pulse according to claim 6, which is characterized in that the near field is：
Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit voltage saturation, so as to flood space barrier
The corresponding region in measurement blind area for hindering the laser pulse echo-signal of object reflection and introducing.
8. a kind of emitter of laser pulse, which is characterized in that including：
First transmitter unit, suitable in the first moment, transmitting first laser pulse；
Second transmitter unit, suitable at the second moment, emitting second laser pulse, the peak power of the first laser pulse is small
In the peak power of the second laser pulse, the time interval at second moment and first moment is more than T, wherein T
For transmitting laser pulse at the time of and at the time of receive the laser pulse echo-signal of near field barrier reflection between duration.
9. the emitter of laser pulse according to claim 8, which is characterized in that the near field is：
Since the directly detected module of the laser pulse of transmitting receives, cause detection circuit voltage saturation, so as to flood space barrier
The corresponding region in measurement blind area for hindering the laser pulse echo-signal of object reflection and introducing.
10. a kind of acquisition methods of obstacle information, which is characterized in that including：
Based on the echo-signal of first laser pulse, the range information for obtaining near field barrier is calculated；
Based on the echo-signal of second laser pulse, the range information for obtaining far field barrier is calculated.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303228.8A CN108089201B (en) | 2017-12-08 | 2017-12-08 | Obstacle information acquisition method, laser pulse emission method and device |
| PCT/CN2018/119721 WO2019109997A1 (en) | 2017-12-08 | 2018-12-07 | Method of obtaining obstacle information, and method and device for emitting laser pulse |
| EP18884929.3A EP3722833A4 (en) | 2017-12-08 | 2018-12-07 | Method of obtaining obstacle information, and method and device for emitting laser pulse |
| US16/805,061 US11346952B2 (en) | 2017-12-08 | 2020-02-28 | Systems and methods for light detection and ranging |
| US17/555,655 US11573327B2 (en) | 2017-12-08 | 2021-12-20 | Systems and methods for light detection and ranging |
| US17/731,411 US20220299647A1 (en) | 2017-12-08 | 2022-04-28 | Systems and methods for light detection and ranging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711303228.8A CN108089201B (en) | 2017-12-08 | 2017-12-08 | Obstacle information acquisition method, laser pulse emission method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108089201A true CN108089201A (en) | 2018-05-29 |
| CN108089201B CN108089201B (en) | 2020-04-24 |
Family
ID=62174510
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711303228.8A Active CN108089201B (en) | 2017-12-08 | 2017-12-08 | Obstacle information acquisition method, laser pulse emission method and device |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP3722833A4 (en) |
| CN (1) | CN108089201B (en) |
| WO (1) | WO2019109997A1 (en) |
Cited By (49)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019109997A1 (en) * | 2017-12-08 | 2019-06-13 | 上海禾赛光电科技有限公司 | Method of obtaining obstacle information, and method and device for emitting laser pulse |
| CN109946675A (en) * | 2019-03-27 | 2019-06-28 | 北醒（北京）光子科技有限公司 | A kind of laser radar stray light suppression circuit |
| CN110456372A (en) * | 2019-08-30 | 2019-11-15 | 上海禾赛光电科技有限公司 | The distance measuring method and laser radar system of laser radar system |
| CN110456374A (en) * | 2019-08-30 | 2019-11-15 | 上海禾赛光电科技有限公司 | The distance measuring method of the transmit circuit of laser radar, laser radar and laser radar |
| CN110488251A (en) * | 2019-08-26 | 2019-11-22 | 国耀量子雷达科技有限公司 | The preparation method of laser radar system and its laser radar echo signal curve, device |
| CN110850427A (en) * | 2019-11-26 | 2020-02-28 | 上海禾赛光电科技有限公司 | Amplifying circuit for laser radar, laser radar and control method |
| CN111239753A (en) * | 2020-03-18 | 2020-06-05 | 福建海创光电有限公司 | Laser ranging device capable of effectively solving interference of return stray light |
| WO2020139381A1 (en) * | 2018-12-26 | 2020-07-02 | Didi Research America, Llc | System and methods for ranging operations using multiple signals |
| CN111965625A (en) * | 2020-08-11 | 2020-11-20 | 上海禾赛科技股份有限公司 | Correction method and device for laser radar and environment sensing system |
| WO2021146954A1 (en) * | 2020-01-21 | 2021-07-29 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| CN113945941A (en) * | 2021-09-18 | 2022-01-18 | 北醒（北京）光子科技有限公司 | Laser radar ranging method and device, laser radar and storage medium |
| CN114325738A (en) * | 2021-12-23 | 2022-04-12 | 探维科技(北京)有限公司 | Method for measuring distance and laser radar |
| US11346952B2 (en) | 2017-12-08 | 2022-05-31 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| WO2022133914A1 (en) * | 2020-12-24 | 2022-06-30 | 深圳市速腾聚创科技有限公司 | Laser emission control method and apparatus, and related device |
| US11486984B2 (en) | 2018-12-26 | 2022-11-01 | Beijing Voyager Technology Co., Ltd. | Three-dimensional light detection and ranging system using hybrid TDC and ADC receiver |
| US11506764B2 (en) | 2018-12-26 | 2022-11-22 | Beijing Voyager Technology Co., Ltd. | System and methods for ranging operations using multiple signals |
| WO2022257137A1 (en) * | 2021-06-11 | 2022-12-15 | 深圳市大疆创新科技有限公司 | Laser radar control method and apparatus, and laser radar and storage medium |
| WO2022257530A1 (en) * | 2021-06-07 | 2022-12-15 | 上海禾赛科技有限公司 | Control method for lidar, and lidar |
| US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
| US11569632B2 (en) | 2018-04-09 | 2023-01-31 | Innovusion, Inc. | Lidar systems and methods for exercising precise control of a fiber laser |
| US11567213B2 (en) | 2021-02-18 | 2023-01-31 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
| US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
| US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
| US11604279B2 (en) | 2017-01-05 | 2023-03-14 | Innovusion, Inc. | MEMS beam steering and fisheye receiving lens for LiDAR system |
| US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
| US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
| US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
| US11644543B2 (en) | 2018-11-14 | 2023-05-09 | Innovusion, Inc. | LiDAR systems and methods that use a multi-facet mirror |
| US11662440B2 (en) | 2021-05-21 | 2023-05-30 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside LiDAR scanner |
| US11662439B2 (en) | 2021-04-22 | 2023-05-30 | Innovusion, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
| US11675053B2 (en) | 2018-06-15 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
| US11675055B2 (en) | 2019-01-10 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods with beam steering and wide angle signal detection |
| US11762065B2 (en) | 2019-02-11 | 2023-09-19 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a lidar system |
| US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
| WO2023184896A1 (en) * | 2022-04-02 | 2023-10-05 | 上海禾赛科技有限公司 | Detection method of laser radar, computer storage medium, and laser radar |
| US11927696B2 (en) | 2018-02-21 | 2024-03-12 | Innovusion, Inc. | LiDAR systems with fiber optic coupling |
| US11947047B2 (en) | 2017-01-05 | 2024-04-02 | Seyond, Inc. | Method and system for encoding and decoding LiDAR |
| US11953601B2 (en) | 2016-12-30 | 2024-04-09 | Seyond, Inc. | Multiwavelength lidar design |
| US11965980B2 (en) | 2018-01-09 | 2024-04-23 | Innovusion, Inc. | Lidar detection systems and methods that use multi-plane mirrors |
| CN117940804A (en) * | 2021-10-09 | 2024-04-26 | 华为技术有限公司 | Control method and device, laser radar and terminal equipment |
| US11977185B1 (en) | 2019-04-04 | 2024-05-07 | Seyond, Inc. | Variable angle polygon for use with a LiDAR system |
| US11977183B2 (en) | 2016-12-31 | 2024-05-07 | Seyond, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
| US11988773B2 (en) | 2018-02-23 | 2024-05-21 | Innovusion, Inc. | 2-dimensional steering system for lidar systems |
| US12038534B2 (en) | 2021-11-24 | 2024-07-16 | Innovusion (suzhou) Co., Ltd. | Motor for on-vehicle lidar, on-vehicle lidar, and vehicle |
| US12050288B2 (en) | 2017-01-05 | 2024-07-30 | Seyond, Inc. | High resolution LiDAR using high frequency pulse firing |
| US12061289B2 (en) | 2021-02-16 | 2024-08-13 | Innovusion, Inc. | Attaching a glass mirror to a rotating metal motor frame |
| US12072447B2 (en) | 2021-04-22 | 2024-08-27 | Seyond, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US12085673B2 (en) | 2018-02-23 | 2024-09-10 | Seyond, Inc. | Distributed LiDAR systems |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11391823B2 (en) | 2018-02-21 | 2022-07-19 | Innovusion, Inc. | LiDAR detection systems and methods with high repetition rate to observe far objects |
| WO2020013890A2 (en) | 2018-02-23 | 2020-01-16 | Innovusion Ireland Limited | Multi-wavelength pulse steering in lidar systems |
| US11796645B1 (en) | 2018-08-24 | 2023-10-24 | Innovusion, Inc. | Systems and methods for tuning filters for use in lidar systems |
| CN113050070B (en) * | 2019-12-27 | 2023-03-14 | 北京万集科技股份有限公司 | Laser radar data processing method, device, equipment and storage medium |
| EP4260086A1 (en) | 2021-03-01 | 2023-10-18 | Innovusion, Inc. | Fiber-based transmitter and receiver channels of light detection and ranging systems |
| US11871130B2 (en) | 2022-03-25 | 2024-01-09 | Innovusion, Inc. | Compact perception device |
| CN115517633B (en) * | 2022-11-29 | 2023-05-09 | 季华实验室 | Image forming apparatus |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101414729B (en) * | 2008-11-24 | 2013-03-27 | 南京大学 | Self-mode-locking laser |
| CN103235314A (en) * | 2013-04-19 | 2013-08-07 | 常州大地测绘科技有限公司 | Pulse laser ranging system and method |
| CN104359564A (en) * | 2014-11-19 | 2015-02-18 | 湖北三江航天红峰控制有限公司 | Pulse laser beam quality synchronous measuring system and synchronous control method thereof |
| WO2016149118A1 (en) * | 2015-03-13 | 2016-09-22 | Continental Advanced Lidar Solutions Us, Inc. | Beam steering ladar sensor |
| CN205809286U (en) * | 2016-05-03 | 2016-12-14 | 中国科学院上海技术物理研究所 | The Novel double-channel laser radar improving echo dynamic range receives system |
| CN206193241U (en) * | 2016-09-12 | 2017-05-24 | 北京万集科技股份有限公司 | Range unit of three -dimensional laser |
| CN106772404A (en) * | 2015-11-23 | 2017-05-31 | 北京万集科技股份有限公司 | Laser radar range device and method |
| CN206450825U (en) * | 2016-12-08 | 2017-08-29 | 北京万集科技股份有限公司 | A kind of bidifly light drive circuit and scanning type laser radar ranging equipment |
| CN107234336A (en) * | 2017-07-06 | 2017-10-10 | 温州职业技术学院 | A kind of laser processing and device of dynamic regulation pulse energy and time interval |
Family Cites Families (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4047117A (en) * | 1974-01-17 | 1977-09-06 | Hughes Aircraft Company | Multi-level laser illuminator |
| US4128759A (en) * | 1977-11-21 | 1978-12-05 | The United States Of America As Represented By The Secretary Of The Navy | Fiber optic delay line filter |
| GB0123640D0 (en) * | 2001-09-19 | 2003-04-09 | Matra Bae Dynamics Uk Ltd | Multiple pulse generation |
| CN101373217B (en) * | 2008-08-28 | 2011-12-28 | 阮树成 | Millimeter wave marine frequency modulation multichannel anti-collision radar |
| CN102200580A (en) * | 2010-03-25 | 2011-09-28 | 付陆欣 | Ranging method for handheld laser range finder |
| CN102419435B (en) * | 2011-08-12 | 2013-06-12 | 中国科学技术大学 | Optical detection assembly based on all-fiber bias light suppression technology and near-field signal dynamic range suppression technology in laser radar |
| ES2436873B1 (en) * | 2012-05-31 | 2014-12-12 | Universidad Politécnica De Valencia | SAMPLE DELAY LINE |
| US9157989B2 (en) * | 2012-08-29 | 2015-10-13 | Trimble Ab | Distance measurement methods and apparatus |
| JP6103179B2 (en) * | 2012-09-13 | 2017-03-29 | 株式会社リコー | Distance measuring device |
| US9575184B2 (en) * | 2014-07-03 | 2017-02-21 | Continental Advanced Lidar Solutions Us, Inc. | LADAR sensor for a dense environment |
| EP3070494B1 (en) * | 2015-03-18 | 2021-04-28 | Leica Geosystems AG | Electro-optical distance measuring method and electro-optical distance meter |
| JP6428462B2 (en) * | 2015-04-17 | 2018-11-28 | 三菱電機株式会社 | Laser radar equipment |
| CN106154248A (en) * | 2016-09-13 | 2016-11-23 | 深圳市佶达德科技有限公司 | A kind of laser radar optical receiver assembly and laser radar range method |
| CN108089201B (en) * | 2017-12-08 | 2020-04-24 | 上海禾赛光电科技有限公司 | Obstacle information acquisition method, laser pulse emission method and device |
-
2017
- 2017-12-08 CN CN201711303228.8A patent/CN108089201B/en active Active
-
2018
- 2018-12-07 WO PCT/CN2018/119721 patent/WO2019109997A1/en unknown
- 2018-12-07 EP EP18884929.3A patent/EP3722833A4/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101414729B (en) * | 2008-11-24 | 2013-03-27 | 南京大学 | Self-mode-locking laser |
| CN103235314A (en) * | 2013-04-19 | 2013-08-07 | 常州大地测绘科技有限公司 | Pulse laser ranging system and method |
| CN104359564A (en) * | 2014-11-19 | 2015-02-18 | 湖北三江航天红峰控制有限公司 | Pulse laser beam quality synchronous measuring system and synchronous control method thereof |
| WO2016149118A1 (en) * | 2015-03-13 | 2016-09-22 | Continental Advanced Lidar Solutions Us, Inc. | Beam steering ladar sensor |
| CN106772404A (en) * | 2015-11-23 | 2017-05-31 | 北京万集科技股份有限公司 | Laser radar range device and method |
| CN205809286U (en) * | 2016-05-03 | 2016-12-14 | 中国科学院上海技术物理研究所 | The Novel double-channel laser radar improving echo dynamic range receives system |
| CN206193241U (en) * | 2016-09-12 | 2017-05-24 | 北京万集科技股份有限公司 | Range unit of three -dimensional laser |
| CN206450825U (en) * | 2016-12-08 | 2017-08-29 | 北京万集科技股份有限公司 | A kind of bidifly light drive circuit and scanning type laser radar ranging equipment |
| CN107234336A (en) * | 2017-07-06 | 2017-10-10 | 温州职业技术学院 | A kind of laser processing and device of dynamic regulation pulse energy and time interval |
Non-Patent Citations (1)
| Title |
|---|
| 姜燕冰等: "APD探测电路脉冲饱和现象及解决方法", 《光学仪器》 * |
Cited By (61)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11953601B2 (en) | 2016-12-30 | 2024-04-09 | Seyond, Inc. | Multiwavelength lidar design |
| US11977183B2 (en) | 2016-12-31 | 2024-05-07 | Seyond, Inc. | 2D scanning high precision LiDAR using combination of rotating concave mirror and beam steering devices |
| US11604279B2 (en) | 2017-01-05 | 2023-03-14 | Innovusion, Inc. | MEMS beam steering and fisheye receiving lens for LiDAR system |
| US11947047B2 (en) | 2017-01-05 | 2024-04-02 | Seyond, Inc. | Method and system for encoding and decoding LiDAR |
| US12050288B2 (en) | 2017-01-05 | 2024-07-30 | Seyond, Inc. | High resolution LiDAR using high frequency pulse firing |
| US11346952B2 (en) | 2017-12-08 | 2022-05-31 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| US11573327B2 (en) | 2017-12-08 | 2023-02-07 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| WO2019109997A1 (en) * | 2017-12-08 | 2019-06-13 | 上海禾赛光电科技有限公司 | Method of obtaining obstacle information, and method and device for emitting laser pulse |
| US11977184B2 (en) | 2018-01-09 | 2024-05-07 | Seyond, Inc. | LiDAR detection systems and methods that use multi-plane mirrors |
| US11965980B2 (en) | 2018-01-09 | 2024-04-23 | Innovusion, Inc. | Lidar detection systems and methods that use multi-plane mirrors |
| US12078755B2 (en) | 2018-01-09 | 2024-09-03 | Seyond, Inc. | LiDAR detection systems and methods that use multi-plane mirrors |
| US11675050B2 (en) | 2018-01-09 | 2023-06-13 | Innovusion, Inc. | LiDAR detection systems and methods |
| US11927696B2 (en) | 2018-02-21 | 2024-03-12 | Innovusion, Inc. | LiDAR systems with fiber optic coupling |
| US12085673B2 (en) | 2018-02-23 | 2024-09-10 | Seyond, Inc. | Distributed LiDAR systems |
| US11988773B2 (en) | 2018-02-23 | 2024-05-21 | Innovusion, Inc. | 2-dimensional steering system for lidar systems |
| US11569632B2 (en) | 2018-04-09 | 2023-01-31 | Innovusion, Inc. | Lidar systems and methods for exercising precise control of a fiber laser |
| US11675053B2 (en) | 2018-06-15 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
| US11609336B1 (en) | 2018-08-21 | 2023-03-21 | Innovusion, Inc. | Refraction compensation for use in LiDAR systems |
| US11579300B1 (en) | 2018-08-21 | 2023-02-14 | Innovusion, Inc. | Dual lens receive path for LiDAR system |
| US12050269B2 (en) | 2018-08-21 | 2024-07-30 | Seyond, Inc. | Dual lens receive path for LiDAR system |
| US11614526B1 (en) | 2018-08-24 | 2023-03-28 | Innovusion, Inc. | Virtual windows for LIDAR safety systems and methods |
| US11940570B2 (en) | 2018-08-24 | 2024-03-26 | Seyond, Inc. | Virtual windows for LiDAR safety systems and methods |
| US11579258B1 (en) | 2018-08-30 | 2023-02-14 | Innovusion, Inc. | Solid state pulse steering in lidar systems |
| US11914076B2 (en) | 2018-08-30 | 2024-02-27 | Innovusion, Inc. | Solid state pulse steering in LiDAR systems |
| US11644543B2 (en) | 2018-11-14 | 2023-05-09 | Innovusion, Inc. | LiDAR systems and methods that use a multi-facet mirror |
| US11686824B2 (en) | 2018-11-14 | 2023-06-27 | Innovusion, Inc. | LiDAR systems that use a multi-facet mirror |
| WO2020139381A1 (en) * | 2018-12-26 | 2020-07-02 | Didi Research America, Llc | System and methods for ranging operations using multiple signals |
| US11506764B2 (en) | 2018-12-26 | 2022-11-22 | Beijing Voyager Technology Co., Ltd. | System and methods for ranging operations using multiple signals |
| CN111712725A (en) * | 2018-12-26 | 2020-09-25 | 北京航迹科技有限公司 | Multi-pulse fusion analysis for laser radar ranging |
| CN111712725B (en) * | 2018-12-26 | 2023-11-17 | 广州沃芽来得灵科技有限公司 | Multi-pulse fusion analysis of lidar ranging |
| US11486984B2 (en) | 2018-12-26 | 2022-11-01 | Beijing Voyager Technology Co., Ltd. | Three-dimensional light detection and ranging system using hybrid TDC and ADC receiver |
| US11675055B2 (en) | 2019-01-10 | 2023-06-13 | Innovusion, Inc. | LiDAR systems and methods with beam steering and wide angle signal detection |
| US11762065B2 (en) | 2019-02-11 | 2023-09-19 | Innovusion, Inc. | Multiple beam generation from a single source beam for use with a lidar system |
| CN109946675A (en) * | 2019-03-27 | 2019-06-28 | 北醒（北京）光子科技有限公司 | A kind of laser radar stray light suppression circuit |
| US11977185B1 (en) | 2019-04-04 | 2024-05-07 | Seyond, Inc. | Variable angle polygon for use with a LiDAR system |
| CN110488251B (en) * | 2019-08-26 | 2021-07-27 | 山东国耀量子雷达科技有限公司 | Laser radar system and method and device for obtaining laser radar echo signal curve |
| CN110488251A (en) * | 2019-08-26 | 2019-11-22 | 国耀量子雷达科技有限公司 | The preparation method of laser radar system and its laser radar echo signal curve, device |
| CN110456374A (en) * | 2019-08-30 | 2019-11-15 | 上海禾赛光电科技有限公司 | The distance measuring method of the transmit circuit of laser radar, laser radar and laser radar |
| CN110456374B (en) * | 2019-08-30 | 2021-07-06 | 上海禾赛科技股份有限公司 | Transmitting circuit of laser radar, laser radar and ranging method of laser radar |
| CN110456372A (en) * | 2019-08-30 | 2019-11-15 | 上海禾赛光电科技有限公司 | The distance measuring method and laser radar system of laser radar system |
| CN110850427A (en) * | 2019-11-26 | 2020-02-28 | 上海禾赛光电科技有限公司 | Amplifying circuit for laser radar, laser radar and control method |
| WO2021146954A1 (en) * | 2020-01-21 | 2021-07-29 | Hesai Technology Co., Ltd. | Systems and methods for light detection and ranging |
| CN111239753A (en) * | 2020-03-18 | 2020-06-05 | 福建海创光电有限公司 | Laser ranging device capable of effectively solving interference of return stray light |
| CN111965625A (en) * | 2020-08-11 | 2020-11-20 | 上海禾赛科技股份有限公司 | Correction method and device for laser radar and environment sensing system |
| WO2022133914A1 (en) * | 2020-12-24 | 2022-06-30 | 深圳市速腾聚创科技有限公司 | Laser emission control method and apparatus, and related device |
| US12061289B2 (en) | 2021-02-16 | 2024-08-13 | Innovusion, Inc. | Attaching a glass mirror to a rotating metal motor frame |
| US11567213B2 (en) | 2021-02-18 | 2023-01-31 | Innovusion, Inc. | Dual shaft axial flux motor for optical scanners |
| US11555895B2 (en) | 2021-04-20 | 2023-01-17 | Innovusion, Inc. | Dynamic compensation to polygon and motor tolerance using galvo control profile |
| US11614521B2 (en) | 2021-04-21 | 2023-03-28 | Innovusion, Inc. | LiDAR scanner with pivot prism and mirror |
| US11662439B2 (en) | 2021-04-22 | 2023-05-30 | Innovusion, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US12072447B2 (en) | 2021-04-22 | 2024-08-27 | Seyond, Inc. | Compact LiDAR design with high resolution and ultra-wide field of view |
| US11662440B2 (en) | 2021-05-21 | 2023-05-30 | Innovusion, Inc. | Movement profiles for smart scanning using galvonometer mirror inside LiDAR scanner |
| WO2022257530A1 (en) * | 2021-06-07 | 2022-12-15 | 上海禾赛科技有限公司 | Control method for lidar, and lidar |
| WO2022257137A1 (en) * | 2021-06-11 | 2022-12-15 | 深圳市大疆创新科技有限公司 | Laser radar control method and apparatus, and laser radar and storage medium |
| US11768294B2 (en) | 2021-07-09 | 2023-09-26 | Innovusion, Inc. | Compact lidar systems for vehicle contour fitting |
| CN113945941A (en) * | 2021-09-18 | 2022-01-18 | 北醒（北京）光子科技有限公司 | Laser radar ranging method and device, laser radar and storage medium |
| CN117940804A (en) * | 2021-10-09 | 2024-04-26 | 华为技术有限公司 | Control method and device, laser radar and terminal equipment |
| US12038534B2 (en) | 2021-11-24 | 2024-07-16 | Innovusion (suzhou) Co., Ltd. | Motor for on-vehicle lidar, on-vehicle lidar, and vehicle |
| CN114325738A (en) * | 2021-12-23 | 2022-04-12 | 探维科技(北京)有限公司 | Method for measuring distance and laser radar |
| CN114325738B (en) * | 2021-12-23 | 2023-01-10 | 探维科技(北京)有限公司 | Method for measuring distance and laser radar |
| WO2023184896A1 (en) * | 2022-04-02 | 2023-10-05 | 上海禾赛科技有限公司 | Detection method of laser radar, computer storage medium, and laser radar |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3722833A4 (en) | 2021-01-13 |
| WO2019109997A1 (en) | 2019-06-13 |
| CN108089201B (en) | 2020-04-24 |
| EP3722833A1 (en) | 2020-10-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108089201A (en) | Obstacle information acquisition methods, the launching technique of laser pulse and device | |
| US11573327B2 (en) | Systems and methods for light detection and ranging | |
| US20210325515A1 (en) | Transmit signal design for an optical distance measurement system | |
| CN108132471B (en) | Method, medium and laser radar system for transmitting and receiving laser pulse | |
| EP4075165A1 (en) | Pulse ranging device and method, and automatic cleaning apparatus having same | |
| CN108196264B (en) | Laser ranging method, device and system | |
| US11506764B2 (en) | System and methods for ranging operations using multiple signals | |
| CN107632298B (en) | High-sensitivity receiving circuit applied to pulse type laser radar system | |
| WO2021146954A1 (en) | Systems and methods for light detection and ranging | |
| JP2008267920A (en) | Laser range finding device and laser range finding method | |
| JP2002311138A (en) | Distance measuring device for vehicle | |
| US11061138B2 (en) | Distance measuring device and method of measuring distance by using the same | |
| CN109932705B (en) | Ultra-wide dynamic range laser echo receiving device and control method thereof | |
| CN114488184A (en) | Laser radar control method and device, electronic equipment and storage medium | |
| US9851202B2 (en) | Determining a return laser signal associated with a target in laser range finders | |
| WO2023092722A1 (en) | Method and device for improving laser ranging capability of radar system and storage medium | |
| JP7193413B2 (en) | Electronic device and distance measurement method | |
| US20230161015A1 (en) | Method and apparatus for improving laser beam ranging capability of lidar system, and storage medium thereof | |
| CN115015873A (en) | Echo signal detection method, echo signal detection device, medium, and laser radar | |
| KR102653265B1 (en) | Ultrasonic sensor system and defect diagnosis method of ultrasonic sensor and method for detecting object of ultrasonic sensor | |
| KR102308786B1 (en) | Vehicle lidar system and signal processing method thereof | |
| CN113777584A (en) | Apparatus and method for automatically controlling signal strength of direct time-of-flight sensing system | |
| US20240019555A1 (en) | Method and device for laser detection, and computer-readable storage medium | |
| CN105866763A (en) | Time delay detection device and method | |
| CN117999496A (en) | Method, device and storage medium for improving laser ranging capability of radar system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: 201800 Building 2, no.468 xinlai Road, Jiading District, Shanghai Patentee after: Shanghai Hesai Technology Co., Ltd Address before: 201821 building A4, No. 925, Yecheng Road, Jiading District, Shanghai Patentee before: HESAI PHOTONICS TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No.2 building, no.468 xinlai Road, Jiading District, Shanghai, 201821 Patentee after: Shanghai Hesai Technology Co.,Ltd. Address before: 201800 Building 2, no.468, xinlai Road, Jiading District, Shanghai Patentee before: Shanghai Hesai Technology Co., Ltd |